Mounting work machine

ABSTRACT

A component supply device including a component storage device that stores a plurality of components, a component support member on which the components from the component storage device are dispersed, and a component return device that returns the components on the component support member to the component storage device, is provided. In a case where the necessary number of components exceeds the number of holdable components, return work of the components to the component container and dispersal work of the components to the component support section are carried out prior to holding the components from the component support section by the component holding tool.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.15/554,386 filed Aug. 29, 2017, the entire contents of which isincorporated herein by reference. U.S. application Ser. No. 15/554,386is a 371 of International Application No. PCT/JP2015/056161 filed Mar.3, 2015.

TECHNICAL FIELD

The present disclosure relates to a mounting work machine that performsmounting work of components on a board.

BACKGROUND ART

In a component supply device that has a component support section thatsupports multiple components in a dispersed state, the components aredispersed from a component container in the component support section,and components with a holdable posture are held by a component holdingtool out of the components that are supported in the component supportsection. Next, supply of the components is carried out by placing thecomponents that are held in the component holding tool in an orderedstate in a placement section. Then, the mounting work on the board iscarried out using the supplied components in the mounting work machine.In addition, the component supply device has a component return devicethat returns the components from the component support section to thecomponent container. Therefore, for example, the components are returnedfrom the component support section to the component container, and thecomponents that are returned to the component container are redispersedto the component support section in a case where there is no holdableposture component by the component holding tool in the component supportsection. Thereby, the components from the component support section areheld by the component holding tool by the components with a posture thatis holdable by the component holding tool being redispersed in thecomponent support section. An example of a component supply device withsuch a structure is described in the following patent literature.

PTL 1: JP-A-10-202569

SUMMARY

According to the component supply device described in the patentliterature above, it is possible to supply a large number of componentsfrom the component supply device by carrying out return work of thecomponent to the component container and dispersal work on the componentsupport section of the components that are returned to the componentcontainer. However, there is a concern that supply of the components isdelayed and a cycle time of the mounting work by the mounting workmachine is reduced since time is necessary to a certain extent in returnwork of the components to the component container and dispersal work ofthe components to the component support section. The present disclosureis made in consideration of such circumstances, and addresses a problemof preventing a reduction of the cycle time of the mounting work of thecomponents that are supplied to the component supply device.

In order to solve the problem described above, a mounting work machinethat performs mounting work of components on a board described in thepresent disclosure includes a component supply device that has (A) acomponent storage device that stores a plurality of components, (B) acomponent support section that supports the components in a dispersedstate in which the components are dispersed from the component storagedevice, (C) a component return device that returns the components thatare in a dispersed state in the component support section to thecomponent storage device, (D) a first component holding tool that holdsthe components that are supported in the component support section, (E)an imaging device that images the components that are supported in thecomponent support section, (F) a placement section for placing thecomponents that are held in the first component holding tool in anordered state, and (G) a control device, and supplies the components inan ordered state in the placement section, and a component mountingdevice that has a second component holding tool that holds thecomponents that are placed on the placement section and mounts thecomponents that are held in the second component holding tool on theboard, in which the control device includes a component numberacquisition section that acquires a necessary number of components thatis a number of components that are necessary during mounting work in themounting work machine, a component number calculating section thatcalculates a number of holdable components that is a number ofcomponents that are holdable from the component support section by thefirst component holding tool based on captured image data that iscaptured by the imaging device, a first determination section thatdetermines whether or not the necessary number of components that areacquired by the component number acquisition section exceeds the numberof holdable components that are calculated by the component numbercalculating section, and a component dispersing section that redispersesthe components from the component storage device to the componentsupport section prior to holding the components from the componentsupport section by the first component holding tool and after thecomponents in a state of being dispersed in the component supportsection are returned to the component storage device through theoperation of the component return device on condition that it isdetermined that the necessary number of components exceeds the number ofholdable components by the first determination section.

The mounting work machine described in the present disclosure determineswhether or not the necessary number of components that is the number ofcomponents that are necessary during mounting work exceeds the number ofholdable components that is a number of components that are holdablefrom the component support section by the component holding tool. Then,as a condition of determining that the necessary number of componentsexceeds the number of holdable components, by carrying out return workof the components to the component container and dispersal work of thecomponents in the component support section prior to holding thecomponents from the component support section by the component holdingtool. Thereby, it is possible to carry out return work of the componentsto the component container and dispersal work of components of thecomponent support section with good timing, and it is possible toprevent reduction of the cycle time of mounting work by the mountingwork machine.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a perspective view illustrating a component mounting machine.

FIG. 2 is a perspective view illustrating a component mounting device ofthe component mounting machine.

FIG. 3 is a perspective view illustrating a bulk component supplydevice.

FIG. 4 is a perspective view illustrating a component supply unit.

FIG. 5 is a perspective view illustrating the component supply unit in astate in which a component collecting container is lifted to a liftingend position.

FIG. 6 is a perspective view illustrating a component holding head.

FIG. 7 is a diagram illustrating a component receiving member in a statein which the lead component is stored.

FIG. 8 is a block diagram illustrating a control device of the componentmounting machine.

FIG. 9 is a perspective view illustrating a component dispersed staterealization device.

FIG. 10 is a diagram illustrating a component support member in a statein which multiple lead components are dispersed.

FIG. 11 is a perspective view illustrating the component dispersed staterealization device and the component return device.

FIG. 12 is a diagram illustrating a flowchart of a control program.

FIG. 13 is a diagram illustrating a flowchart of a control program.

DESCRIPTION OF EMBODIMENTS

Hereinafter, detailed description will be given of the example of thepresent disclosure with reference to the drawings as a mode for carryingout the present disclosure.

<Configuration of Component Mounting Machine>

FIG. 1 illustrates a component mounting machine 10. The componentmounting machine 10 is a device for executing mounting work ofcomponents onto a circuit substrate 12. The component mounting machine10 is provided with a device main body 20, a substrate conveyance andholding device 22, a component mounting device 24, imaging devices 26and 28, a component supply device 30, a bulk component supply device 32,and a control device 34 (refer to FIG. 8). Examples of the circuitsubstrate 12 include a circuit board, a three-dimensional structuresubstrate, and the like, and examples of the circuit board include aprinted wiring board, a printed circuit board, and the like.

The device main body 20 is formed of a frame section 40, and a beamsection 42 which bridges over the frame section 40. The substrateconveyance and holding device 22 is arranged in the middle of thefront-back direction of the frame section 40, and includes a conveyancedevice 50 and a clamping device 52. The conveyance device 50 is a devicewhich conveys the circuit substrate 12, and the clamping device 52 is adevice which holds the circuit substrate 12. Thereby, the substrateconveyance and holding device 22 conveys the circuit substrate 12 andholds the circuit substrate 12 in a fixed manner at a predeterminedposition. In the following description, the conveyance direction of thecircuit substrate 12 will be referred to as an X-direction, a horizontaldirection which is perpendicular to the conveyance direction will bereferred to as a Y-direction, and the vertical direction will bereferred to as a Z-direction. In other words, the width direction of thecomponent mounting machine 10 is the X-direction, and the front-backdirection is the Y-direction.

The component mounting device 24 is arranged on the beam section 42, andincludes two work heads 60 and 62, and a work head moving device 64.Each of the work heads 60 and 62 includes a suction nozzle 66 (refer toFIG. 2), and holds a component using the suction nozzle 66. The workhead moving device 64 includes an X-direction moving device 68, aY-direction moving device 70, and a Z-direction moving device 72. Thetwo work heads 60 and 62 are caused to move integrally to an arbitraryposition on the frame section 40 by the X-direction moving device 68 andthe Y-direction moving device 70. As illustrated in FIG. 2, the workheads 60 and 62 are mounted to be attachable and detachable in sliders74 and 76, respectively, and the Z-direction moving device 72 causes thesliders 74 and 76 to move in the up-down direction individually. Inother words, the work heads 60 and 62 are caused to move in the up-downdirection individually by the Z-direction moving device 72.

The imaging device 26 is attached to the slider 74 in a state of facingdownward, and is caused to move in the X-direction, the Y-direction, andthe Z-direction together with the work head 60. Accordingly, the imagingdevice 26 images an arbitrary position on the frame section 40. Asillustrated in FIG. 1, the imaging device 28 is arranged between thesubstrate conveyance and holding device 22 and the component supplydevice 30 on the frame section 40 in a state of facing upward. Thereby,the imaging device 28 images the components that are held on the suctionnozzle 66 of the work heads 60 and 62.

The component supply device 30 is arranged on an end portion of one sidein the front-back direction of the frame section 40. The componentsupply device 30 includes a tray-type component supply device 78 and afeeder-type component supply device (not illustrated). The tray-typecomponent supply device 78 is a device which supplies components whichare in a state of being placed on a tray. The feeder-type componentsupply device is a device which supplies components using a tape feeder(not illustrated) and a stick feeder (not illustrated).

The bulk component supply device 32 is arranged on an end portion of theother side in the front-back direction of the frame section 40. The bulkcomponent supply device 32 is a device which orders multiple componentsin a state of being dispersed loosely and supplies the components in anordered state. In other words, a device which orders multiple componentswhich are in arbitrary postures into predetermined postures, andsupplies the components which are in the predetermined postures.Hereinafter, detailed description will be given of the configuration ofthe component supply device 32. Examples of the components which aresupplied by the component supply device 30 and the bulk component supplydevice 32 include electronic circuit components, constituent componentsof a solar cell, constituent components of a power module, and the like.Among the electronic circuit components, there are components whichinclude leads, components which do not include leads, and the like.

As illustrated in FIG. 3, the bulk component supply device 32 includes amain body 80, a component supply unit 82, an imaging device 84, and acomponent delivery device 86.

(a) Component Supply Unit

The component supply unit 82 includes a component feeder 88, a componentdispersed state realization device 90, and a component return device 92,and the component feeder 88, the component dispersed state realizationdevice 90, and the component return device 92 are integrally configured.The component supply units 82 are assembled to be attachable to anddetachable from a base 96 of a main body 80, and in the bulk componentsupply device 32, five component supply units 82 are arranged to line upin a single row in the X-direction.

(i) Component Feeder

As illustrated in FIG. 4, the component feeder 88 includes a componentstorage device 100, a housing 102, and a grip 104. The component storagedevice 100 is substantially a rectangular parallelepiped shape, and theupper face and the front face are opened. The bottom face of thecomponent storage device 100 is an inclined surface 116, and is inclinedtoward the open front face of the component storage device 100.

The housing 102 has a pair of side walls 120, and the component storagedevice 100 is held to be rockable between the pair of side walls 120. Inaddition, an inclined plate 152 is arranged, in a fixed manner, betweenthe pair of side walls 120 so as to be positioned in front of the lowerend portion of the front face of the component storage device 100. Theinclined plate 152 is inclined so as to reduce toward the front.

The grip 104 is arranged on the end portion on the rear side of thehousing 102, and is constituted by a fixed gripping member 170 and amovable gripping member 172. The movable gripping member 172 approachesor separates with respect to the fixed gripping member 170. Then, themovable gripping member 172 is joined to the rear face of the componentstorage device 100 by a connecting arm (not illustrated). Thereby, themovable gripping member 172 approaches or separates from the fixedgripping member 170 by grasping the grip 104, and the component storagedevice 100 rocks between the pair of side walls 120.

In addition, the component feeder 88 is arranged between a pair of sideframe sections 190 that are assembled on the base 96 and is attachableto and detachable from the base 96. Note that, a lock mechanism (notillustrated) is provided on a lower end portion of the movable grippingmember 172 of the grip 104, and the lock mechanism is released bygrasping the grip 104. That is, the component feeder 88 is removed frombetween the pair of side frame sections 190 by lifting the componentfeeder 88 in a state in which the operator grasps the grip 104 of thecomponent feeder 88.

(ii) Component Dispersed State Realization Device

The component dispersed state realization device 90 includes a componentsupport member 220, a component support member moving device 222, and afeeder vibration device 224. The component support member 220 issubstantially in the form of a longitudinal plate and is arranged so asto extend forward from under the inclined plate 152 of the componentfeeder 88. In addition, a side wall section 228 is formed on both sideedges of the component support member 220 in a longitudinal direction.

The component support member moving device 222 is a device that drivesthe component support member 220 through driving of an electromagneticmotor 223 (refer to FIG. 8) in a front-back direction. Thereby, thecomponent support member 220 moves in the front-back direction in astate in which the upper face of the component support member 220 ishorizontal, slightly below the lower end of the inclined plate 152 ofthe component feeder 88.

The feeder vibration device 224 includes a cam member 240, a camfollower 242, and a stopper 244. The cam member 240 is plate shaped, andis fixed to the outer side face of the side wall section 228 so as toextend in the front-back direction. Multiple teeth 245 are formed at anequal interval in the front-back direction on the upper end portion ofthe cam member 240. The cam follower 242 includes a lever 252 and aroller 254. The lever 252 is arranged on the lower end portion of theside wall 120 of the component feeder 88, and is swingable centered onthe upper end portion. The roller 254 is rotatably held on the lower endportion of the lever 252. The lever 252 is biased to a direction towardthe front by an elastic force of a coil spring (not illustrated). Inaddition, the stopper 244 is provided to protrude from the side wall120, and the lever 252 which is biased by the elastic force of the coilspring is in contact with the stopper 244.

(iii) Component Return Device

As illustrated in FIG. 5, the component return device 92 includes acontainer lifting and lowering device 260 and a component collectingcontainer 262. The container lifting and lowering device 260 includes anair cylinder 266 and a lifting and lowering member 268, and the liftingand lowering member 268 lifts and lowers through the operation of theair cylinder 266. In addition, the air cylinder 266 is fixed to the endportion of the front side of the component support member 220. Thereby,the air cylinder 266 moves in the front-back direction together with thecomponent support member 220 through the operation of the componentsupport member moving device 222.

The component collecting container 262 is arranged on the upper face ofthe lifting and lowering member 268 and moves in the up-down directionthrough the operation of the air cylinder 266. The component collectingcontainer 262 has a box-like shape with an open upper face, and isrotatably held on the upper face of the lifting and lowering member 268.As illustrated in FIG. 4, a protruding pin 272 is arranged on an endportion on the rear side of the component collecting container 262. Theprotruding pin 272 protrudes toward the outside at the side of thecomponent collecting container 262. In addition, an engaging block 274is fixed to the inside of the upper end portion on the front side of theside frame sections 190. As illustrated in FIG. 5, the protruding pin272 is engaged with the engaging block 274 when the component collectingcontainer 262 is lifted to the lifting end position through theoperation of the air cylinder 266. Thereby, the component collectingcontainer 262 rotates.

(b) Imaging Device

As illustrated in FIG. 3, the imaging device 84 includes a camera 290and a camera moving device 292. The camera moving device 292 includes aguide rail 296 and a slider 298. The guide rail 296 is fixed to the mainbody 80 so as to extend in the width direction of the bulk componentsupply device 32 above the component feeder 88. The slider 298 isattached to the guide rail 296 to be slidable, and slides to anarbitrary position through the operation of the electromagnetic motor299 (refer to FIG. 8). The camera 290 is mounted to the slider 298 in astate of facing downward.

(c) Component Delivery Device

As illustrated in FIG. 3, the component delivery device 86 includes acomponent holding head moving device 300, a component holding head 302,and two shuttle devices 304.

The component holding head moving device 300 includes an X-directionmoving device 310, a Y-direction moving device 312, and a Z-directionmoving device 314. The Y-direction moving device 312 has a Y slider 316that is arranged above the component supply unit 82 so as to extend inthe X-direction, and the Y slider 316 moves to the arbitrary position inthe Y-direction through driving of the electromagnetic motor 319 (referto FIG. 8). The X-direction moving device 310 has an X slider 320 thatis arranged on a side face of the Y slider 316, and the X slider 320moves to the arbitrary position in the X-direction through driving ofthe electromagnetic motor 321 (refer to FIG. 8). The Z-direction movingdevice 314 has a Z slider 322 that is arranged on a side face of the Xslider 320, and the Z slider 322 moves to the arbitrary position in theZ-direction through driving of the electromagnetic motor 323 (refer toFIG. 8).

As illustrated in FIG. 6, the component holding head 302 includes a headmain body 330, a suction nozzle 332, a nozzle pivoting device 334, and anozzle rotation device 335. The head main body 330 is formed integrallywith the Z slider 322. The suction nozzle 332 holds the component and ismounted to be attachable to and detachable from the lower end portion ofa holder 340. The holder 340 is bendable in a support shaft 344 and isbent 90 degrees upward through the operation of the nozzle pivotingdevice 334. Thereby, the suction nozzle 332 that is mounted on the lowerend portion of the holder 340 pivots 90 degrees and is positioned at apivoting position. That is, the suction nozzle 332 pivots between thenon-pivoting position and the pivoting position through the driving ofthe nozzle pivoting device 334. In addition, the nozzle rotation device335 causes the suction nozzle 332 to rotate around the axis of thesuction nozzle 332.

In addition, as illustrated in FIG. 3, each of the two shuttle devices304 includes a component carrier 388 and a component carrier movingdevice 390, and the shuttle devices 304 are fixed to the main body 80 toline up in the horizontal direction on the front side of the componentsupply units 82. Five component receiving members 392 are mounted to thecomponent carrier 388 in a state of being lined up in a single row inthe horizontal direction, and the components are placed on each of thecomponent receiving members 392.

In detail, as illustrated in FIG. 7, the component which is supplied bythe bulk component supply device 32 is an electronic circuit component410 (hereinafter may be abbreviated to “lead component”) which includesleads, and the lead component 410 is formed of a block-shaped componentmain body 412, and two leads 414 which protrude from the bottom face ofthe component main body 412. In addition, a component receiving recessedsection 416 is formed in the component receiving member 392. Thecomponent receiving recessed section 416 is a step-shaped recessedsection, and is formed of a main body section receiving recessed section418 which is open to the upper face of the component receiving member392, and a lead receiving recessed section 420 which is open to thebottom face of the main body section receiving recessed section 418.Then, the lead component 410 is set to a posture at which the leads 414face downward, and is inserted inside the component receiving recessedsection 416. Thereby, the lead component 410 is placed inside thecomponent receiving recessed section 416 in a state in which thecomponent main body 412 is inserted in the main body section receivingrecessed section 418 while the leads 414 are inserted in the leadreceiving recessed section 420.

In addition, as illustrated in FIG. 3, the component carrier movingdevice 390 is a plate shaped longitudinal member, and is arranged on thefront side of the component supply unit 82 so as to extend in thefront-back direction. The component carrier 388 is arranged on the upperface of the component carrier moving device 390 to be slidable in thefront-back direction, and slides to an arbitrary position in thefront-back direction through driving of the electromagnetic motor 430(refer to FIG. 8). When the component carrier 388 slides in a directionapproaching the component supply unit 82, the component holding head 302slides to the component receiving position which is positioned withinthe movement range of the component holding head 302 due to thecomponent holding head moving device 300. Meanwhile, when the componentcarrier 388 slides in a direction separating from the component supplyunit 82, the component carrier 388 slides to the component supplyposition which is positioned within the movement range of the work heads60 and 62 by the work head moving device 64.

In addition, as illustrated in FIG. 8, the control device includes anintegrated control device 450, multiple individual control devices 452(only one is illustrated in the diagram), an image processing device454, and a storage device 456. The integrated control device 450constitutes the main body of a computer, and connects the substrateconveyance and holding device 22, the component mounting device 24, theimaging device 26, the imaging device 28, the component supply device30, and the bulk component supply device 32. Thereby, the integratedcontrol device 450 integratedly controls the substrate conveyance andholding device 22, the component mounting device 24, the imaging device26, the imaging device 28, the component supply device 30, and the bulkcomponent supply device 32. Multiple individual control devices 452constitute the main body of the computer, and are provided correspondingto the substrate conveyance and holding device 22, the componentmounting device 24, the imaging device 26, the imaging device 28, thecomponent supply device 30, and the bulk component supply device 32(only the individual control device 452 that corresponds to the bulkcomponent supply device 32 is illustrated in the diagram). Theindividual control devices 452 of the bulk component supply device 32 isconnected to the component dispersed state realization device 90, thecomponent return device 92, the camera moving device 292, the componentholding head moving device 300, the component holding head 302, and theshuttle device 304. Thereby, the individual control devices 452 of thebulk component supply device 32 control the component dispersed staterealization device 90, the component return device 92, the camera movingdevice 292, the component holding head moving device 300, the componentholding head 302, and the shuttle device 304. In addition, the imageprocessing device 454 is connected to the imaging device 84, andprocesses captured image data that is captured by the imaging device 84.The image processing device 454 is connected to the individual controldevices 452 of the bulk component supply device 32. Thereby, theindividual control devices 452 of the bulk component supply device 32acquire the captured image data that is captured by the imaging device84. In addition, the storage device 456 stores various data, and isconnected to the individual control devices 452. Thereby, the individualcontrol devices 452 acquire various data from the storage device 456.

<Operation of Component Mounting Machine>

According to the configuration described above, the component mountingmachine 10 carries out work of mounting the components onto the circuitsubstrate 12 which is held by the substrate conveyance and holdingdevice 22. Specifically, the circuit substrate 12 is conveyed to aworking position, and is held at the position by the clamping device 52in a fixed manner. Next, the imaging device 26 moves above the circuitsubstrate 12 and images the circuit substrate 12. Accordingly,information relating to the error of the holding position of the circuitsubstrate 12 is obtained. The component supply device 30 or the bulkcomponent supply device 32 supplies the components at a predeterminedsupply position. Detailed description relating to the supplying of thecomponents by the bulk component supply device 32 will be given later.Either of the work heads 60 and 62 moves above the supply position ofthe component and holds the component using the suction nozzle 66. Next,the work head 60 or 62 which holds the component moves above the imagingdevice 28, and the component which is held by the suction nozzle 66 isimaged by the imaging device 28. Thereby, information relating to theerror of the holding position of the component is obtained. The workhead 60 or 62 which holds the component moves above the circuitsubstrate 12, corrects the error of the holding position of the circuitsubstrate 12, the error of the holding position of the component, andthe like, and mounts the component onto the circuit substrate 12.

<Operation of Bulk Component Supply Device>

(a) In the bulk component supply device 32 of the lead components thatare supplied by the bulk component supply device, the lead components410 are inserted into the component storage device 100 of the componentfeeder 88 by the operator, and the inserted lead components 410 aresupplied in a state of being placed on the component receiving member392 of the component carrier 388 through the operation of the componentsupply unit 82 and the component delivery device 86. In detail, theoperator inserts the lead components 410 from the opening on the upperface of the component storage device 100 of the component feeder 88. Atthis time, the component support member 220 is moved below the componentfeeder 88 through the operation of the component support member movingdevice 222, and the component collecting container 262 is positioned infront of the component feeder 88.

The lead components 410 which are inserted from the opening on the upperface of the component storage device 100 fall on the inclined surface116 of the component storage device 100 and spread out on the inclinedsurface 116. At this time, in a case in which the lead components 410which fall onto the inclined surface 116 exceed the inclined plate 152and roll off, the lead components 410 are accommodated in the componentcollecting container 262 that is positioned in front of the componentfeeder 88.

After the insertion of the lead components 410 to the component storagedevice 100, the component support member 220 is caused to move fromunder the component feeder 88 toward the front through the operation ofthe component support member moving device 222. In this case, if the cammember 240 reaches the cam follower 242, as illustrated in FIG. 9, theroller 254 of the cam follower 242 exceeds the teeth 245 of the cammember 240. The lever 252 of the cam follower 242 is biased in adirection toward the front by the elastic force of a coil spring, andthe biasing of the lever 252 to the front is restricted by the stopper244. Therefore, when the component support member 220 moves toward thefront, the component support member 220 is maintained in a state inwhich the roller 254 meshes with the teeth 245, the lever 252 does notrotate toward the front, and the roller 254 surpasses the teeth 245. Inthis case, the component feeder 88 is lifted due to the surpassing ofthe teeth 245 of the roller 254. In other words, in a state in which theroller 254 meshes with the teeth 245, the component support member 220moves toward the front, whereby the roller 254 surpasses the multipleteeth 245, and the component feeder 88 continuously vibrates in theup-down direction.

The lead components 410 which are spread out on the inclined surface 116of the component storage device 100 moves to the front through thevibration of the component feeder 88 and the inclination of the inclinedsurface 116, and are discharged onto the upper face of the componentsupport member 220 via the inclined plate 152. In this case, the fallingof the lead components 410 from the component support member 220 isprevented by the side wall section 228 of the component support member220. Then, the lead components 410 are dispersed on the upper face ofthe component support member 220 by moving the component support member220 toward the front.

Note that, as illustrated in FIG. 10, the lead components 410 aredispersed on the component support member 220 in various postures whenthe lead components 410 are dispersed from the inside of the componentstorage device 100 on the component support member 220. Specifically,the component main body 412 of the lead components 410 is substantiallya rectangular parallelepiped shape, and has six faces. The six faces arethe bottom face 500 out of which the leads 414 extend, an upper face 502that is the rear side of the bottom face 500, and four side faces 504,506, 508, and 510. Then, the four side faces 504, 506, 508, and 510 havea large surface area, and are a first side face 504 on which manyconcavities and convexities are present, a second side face 506 that isthe rear side of the first side face 504 and has no concavities andconvexities, a third side face 508 that is a side horizontal to thefirst side face 504 and the second side face 506, and a fourth side face510.

The lead components 410 are supported on the component support member220 at roughly five postures when such lead components 410 are dispersedon the component support member 220. In detail, the lead components 410are supported on the component support member 220 at any posture out ofthe six postures of a posture in which the first side face 504 facesstraight up (hereinafter, described as a “first posture”), a posture inwhich the second side face 506 faces straight up (hereinafter, describedas a “second posture”), a posture in which the third side face 508 orthe fourth side face 510 faces straight up (hereinafter, described as a“third posture”), a posture in which the bottom face 500 faces straightup (hereinafter, described as a “fourth posture”), and a posture inwhich the first side face 504 or the second side face 506 facesdiagonally up (hereinafter, described as a “fifth posture”). Note that,in the lead component 410 of the fifth posture, the first side face 504or the second side face 506 face diagonally up due to the distal end ofthe lead component 410 contacting the component support member 220.

As described above, when the lead components 410 are dispersed on thecomponent support member 220 at various postures, the camera 290 of theimaging device 84 is caused to move above the component support member220 through the operation of the camera moving device 292, and thecamera 290 images the lead components 410. Then, the lead componentsthat are pickup targets (hereinafter, referred to as “pickup targetcomponents”) based on the captured image data that is captured by thecamera 290 are held by the suction nozzle 332 of the component holdinghead 302.

Specifically, the component posture and component position arecalculated for each of the multiple components that are dispersed on thecomponent support member 220 based on the captured image data of thecamera 290. Then, only the lead components 410 with the calculatedcomponent posture that is the second posture and the third posture arespecified as the pickup target components. Thereby, in the leadcomponents 410 with the first posture, the first side face 504 on whichthere are many concavities and convexities faces upward, and it is notpossible to hold the first side face 504 by the suction nozzle 332.Thereby, in the lead components 410 with the fourth posture, the bottomface 500 on which the leads 414 are arranged faces upward, and it is notpossible to hold the bottom face 500 by the suction nozzle 332. Inaddition, in the lead components 410 with the fifth posture, thecomponent main body 412 is in an inclined state, and it is not possibleto hold the posture of the lead component 410 by the suction nozzle 332.

Therefore, in the component support member 220 that is illustrated inFIG. 10, four lead components 410 out of 11 lead components 410 that aredispersed on the component support member 220 are specified as thepickup target components. Specifically, two lead components 410 with thesecond posture and two lead components 410 with the third posture arespecified as the pickup target components. Note that, when the leadcomponents 410 are dispersed on the component support member 220, out ofthe lead components 410 that are dispersed on the component supportmember 220, a probability of the lead components 410 that are specifiedas the pickup target component being present, that is, a probability ofbeing holdable by the suction nozzle 332 (hereinafter, described as“holding probability”) is calculated.

Specifically, the total number (11) of the lead components 410 that aredispersed on the component support member 220 is calculated based on thecaptured image data of the component support member 220 by the camera290. Then, a ratio of the number (four) of the pickup target componentswith respect to the number (11) of the lead components 410 is calculatedas the holding probability. The calculated holding probability is storedin the storage device 456 in each component that is supplied by the bulkcomponent supply device 32. Note that, the holding probability is usedduring return work of the component that is described later in detail.

Then, when the pickup target components are specified, the pickup targetcomponents are held by the suction nozzle 332 of the component holdinghead 302. When the pickup target component is sucked and held by thesuction nozzle 332, the suction nozzle 332 is positioned at thenon-pivoting position. Then, after the lead components 410 are held bythe suction nozzle 332, the component holding head 302 is caused to moveabove the component carrier 388. At this time, the component carrier 388moves to the component receiving position through the operation of thecomponent carrier moving device 390. When the component holding head 302moves above the component carrier 388, the suction nozzle 332 is causedto pivot to the pivoting position. Note that, the suction nozzle 332rotates through the operation of the nozzle rotation device 335 suchthat the leads 414 of the lead component 410 which is held by thesuction nozzle 332 at the pivoting position faces downward in thevertical direction.

When the component holding head 302 is caused to move above thecomponent carrier 388, the lead component 410 which is in a state inwhich the leads 414 face downward in the vertical direction is insertedinto the component receiving recessed section 416 of the componentreceiving member 392. Thereby, as illustrated in FIG. 7, the leadcomponents 410 are placed on the component receiving member 392 in astate in which the leads 414 face downward in the vertical direction.

Then, when the lead components 410 are placed on the component receivingmember 392, the component carrier 388 moves to the component supplyposition through the operation of the component carrier moving device390. Since the component carrier 388 which is moved to the componentsupply position is positioned in the movement range of the work heads 60and 62, the lead component 410 is supplied at this position in the bulkcomponent supply device 32. In this manner, in the bulk component supplydevice 32, the lead component 410 is supplied in a state in which theleads 414 face downward, and the upper face 502 that faces the bottomface 500 to which the leads 414 are connected faces upward. Therefore,the suction nozzle 66 of the work heads 60 and 62 becomes capable ofappropriately holding the lead components 410.

(b) Collection of Lead Components

In addition, in the bulk component supply device 32, it is possible tocollect the lead components 410 that are dispersed on the componentsupport member 220. Specifically, the component support member 220 iscaused to move below the component feeder 88 through the operation ofthe component support member moving device 222. In this case, asillustrated in FIG. 11, the lead components 410 on the component supportmember 220 are blocked by the inclined plate 152 of the component feeder88, and the lead components 410 on the component support member 220 arescraped off the inside of the component collecting container 262.

Next, the component collecting container 262 is lifted by the operationof the container lifting and lowering device 260. At this time, asillustrated in FIG. 5, the protruding pin 272 which is arranged on thecomponent collecting container 262 engages with the engaging block 274which is arranged on the inside of the side frame sections 190. Thereby,the component collecting container 262 rotates, and the lead components410 inside the component collecting container 262 are returned to theinner portion of the component storage device 100.

Then, as described above, by grasping the grip 104 of the componentfeeder 88, the operator releases locking of the component feeder 88 andthe component feeder 88 is removed from between the pair of side framesections 190 by lifting the component feeder 88. Thereby, the leadcomponents 410 are collected from the component feeder 88 outside of thebulk component supply device 32.

(c) Resupply of Lead Components

In addition, in the bulk component supply device 32, the lead components410 that are returned from the component support member 220 to thecomponent storage device 100 may be redispersed on the component supportmember 220 without being collected from the component storage device100, and according to the procedure described above, the lead components410 may be resupplied by placing on the component receiving member 392.

Specifically, as described above, only the lead components 410 with thesecond posture and the third posture out of the lead components 410 thatare dispersed on the component support member 220 are transferred to thecomponent receiving member 392 and the lead components 410 with otherpostures are caused to remain on the component support member 220.Therefore, when all of the lead components 410 with the second postureand the third posture are transferred from the component support member220 to the component receiving member 392, only the lead components 410with a nontransferable posture remain in the component support member220, and the bulk component supply device 32 is not able to supply thelead components 410. In this manner, in a case where only the leadcomponents 410 with the nontransferable posture remain on the componentsupport member 220, the remaining lead components 410 are returned fromthe component support member 220 to the component storage device 100,and are redispersed from the component storage device 100 on thecomponent support member 220. At this time, the lead components 410 thatare in various postures of the first to fifth postures are dispersed onthe component support member 220. Thereby, it is possible to retransferthe lead components 410 with the second posture and the third posturefrom the component support member 220 to the component receiving member392.

In addition, not only in a case where only the lead components 410 withthe nontransferable posture remain on the component support member 220,but also when the lead components 410 with the transferable postureremain on the component support member 220, the remaining leadcomponents 410 may be returned from the component support member 220 tothe component storage device 100, and may be redispersed from thecomponent storage device 100 on the component support member 220.

In detail, during mounting work by the component mounting machine 10,the number of necessary lead components 410 (hereinafter, described asthe “necessary number of components”) in the mounting work istransferred from the integrated control device 450 to the individualcontrol device 452 of the bulk component supply device 32. Then, in theindividual control device 452 to which the necessary number ofcomponents are transferred, the number of suppliable lead components 410is calculated. That is, the component support member 220 on which thelead components 410 are dispersed is imaged by the camera 290, and thenumber of lead components 410 that are holdable by the suction nozzle332 (hereinafter, described as the “number of holdable components”),that is, the number of lead components 410 with the second posture andthe third posture is calculated based on the captured image data.

Then, it is determined in the individual control device 452 whether ornot the necessary number of components exceeds the number of holdablecomponents. That is, it is determined whether or not it is possible tosupply the lead components 410 of the necessary number of componentsfrom the component support member 220. At this time, in a case where thenecessary number of components does not exceed the number of holdablecomponents, that is, it is determined that it is possible to supply thelead components 410 of the necessary number of components from thecomponent support member 220, according to the procedure describedabove, the lead components 410 of the necessary number of components istransferred and supplied from the component support member 220 to thecomponent receiving member 392. Specifically, as illustrated in FIG. 10,for example, in a case where the number of holdable components is four,if the necessary number of components is three, according to theprocedure described above, three lead components 410 are sequentiallytransferred and supplied to the component receiving member 392.

Meanwhile, in a case where the necessary number of components exceedsthe number of holdable components, that is, it is determined that it isnot possible to supply the lead components 410 of the necessary numberof components from the component support member 220, the components fromthe component support member 220 return to the component storage device100, and it is necessary to disperse the components from the componentstorage device 100 on the component support member 220, but a certainamount of time is necessary in return work to the component storagedevice 100 and the dispersal work of the component support member 220.Therefore, a performance timing of the return work to the componentstorage device 100 and the dispersal work of the component supportmember 220 are determined according to a progress state of the mountingwork by the component mounting machine 10, a work condition of thecomponent carrier 388, and the like.

In detail, the progress state of the mounting work by the componentmounting machine 10 is managed in the integrated control device 450.Therefore, in the individual control device 452 of the bulk componentsupply device 32, when it is determined that the necessary number ofcomponents exceeds the number of holdable components, the individualcontrol device 452 carries out an inquiry of the progress state of themounting work by the component mounting machine 10 in the integratedcontrol device 450 and the remaining time until the mounting work of thecomponents that are supplied from the bulk component supply device 32 isperformed (hereinafter, described as “remaining time”) is acquired fromthe integrated control device 450. That is, the individual controldevice 452 acquires, as the remaining time, from the integrated controldevice 450 a time from an inquiry time from the individual controldevice 452 to the integrated control device 450 until a prearrangedstart time of the mounting work using the components that are suppliedfrom the bulk component supply device 32.

In addition, in a case where in the individual control device 452, thecomponent carrier 388 is not positioned at the component receivingposition, the necessary time until the component carrier 388 moves tothe component receiving position (hereinafter, described as “necessarytime”) is acquired. Thereby, for example, when the component carrier 388supplies the components in the component supply position, a certainamount of time is necessary as a time in which the component carrier 388moves up to the component receiving position since it is not possible tomove the component carrier 388 from the component supply position. Notethat, the necessary time is calculated by the individual control device452 since the operation of the component carrier 388 is controlled bythe individual control device 452.

When acquiring the remaining time and the necessary time, the individualcontrol device 452 determines whether or not the remaining time and thenecessary time exceed a threshold time. Note that, the threshold time isset to a certain time that is necessary in the return work to thecomponent storage device 100 and the dispersal work of the componentsupport member 220. Then, in a case of determining that the remainingtime and necessary time do not exceed the threshold time, the individualcontrol device 452 performs the return work to the component storagedevice 100 and the dispersal work of the component support member 220after the lead components 410 that are transferable from the componentsupport member 220 are all transferred to the component receiving member392. Then, the components that are redispersed on the component supportmember 220 are transferred to the component receiving member 392.

Specifically, as illustrated in FIG. 10, for example, in a case wherethe number of holdable components is four, if the necessary number ofcomponents is six, first, four lead components 410 are sequentiallytransferred and supplied to the component support member 220. Next, thelead components 410 are returned from the component support member 220to the component storage device 100, and are redispersed from thecomponent storage device 100 on the component support member 220. Then,two lead components 410 from the component support member 220 aresequentially transferred and supplied to the component support member220. Thereby, the lead components 410 of the necessary number ofcomponents are supplied by the bulk component supply device 32.

Meanwhile, in a case of determining that at least one of the remainingtime and the necessary time exceed the threshold time, the individualcontrol device 452 returns the lead components 410 from the componentsupport member 220 to the component storage device 100 withoutperforming transfer work of the lead components 410 from the componentsupport member 220, and redisperses the lead components 410 from thecomponent storage device 100 on the component support member 220. Then,the lead components 410 of the necessary number of components aretransferred to the component receiving member 392 from the componentsthat are redispersed on the component support member 220.

Specifically, as illustrated in FIG. 10, for example, in a case wherethe number of holdable components is four, if the necessary number ofcomponents is six, the individual control device 452 returns the leadcomponents 410 from the component support member 220 to the componentstorage device 100 without transferring the lead components 410 from thecomponent support member 220, and redisperses the lead components 410from the component storage device 100 on the component support member220. At this time, for example, the component carrier 388 that is movedto the component supply position moves to the component receivingposition. Then, six lead components 410 from the components that areredispersed on the component support member 220 are sequentiallytransferred and supplied to the component support member 220. At thistime, the component mounting machine 10 performs other mounting work,and supplies the lead components 410 utilizing the time of the mountingwork.

In this manner, in the bulk component supply device 32, the return workto the component storage device 100 and the dispersal work of thecomponent support member 220 are performed utilizing free time until themounting work in which the components that are supplied by the bulkcomponent supply device 32 are used and free time until the componentcarrier 388 moves to the component receiving position. Thereby, it ispossible to supply the lead components 410 of the necessary number ofcomponents without stopping the mounting work by the component mountingmachine 10 and it is possible to improve the cycle time.

However, there is a concern that the cycle time worsens even if thereturn work to the component storage device 100 and the dispersal workof the component support member 220 are performed utilizing free time ofthe mounting work by the component mounting machine 10, free time untilthe component carrier 388 moves to the component receiving position, andthe like. That is, according to the shape of the lead components 410,the holding probability may be equivalently low, and in such a case,there is a concern that even if the return work to the component storagedevice 100 and the dispersal work of the component support member 220are performed, the number of holdable lead components 410 from thecomponent support member 220 does not reach the necessary number ofcomponents or more.

Specifically, as illustrated in FIG. 10, for example, in a case wherethe number of holdable components is four, if the necessary number ofcomponents is six, when determining that at least one of the remainingtime and the necessary time exceed the threshold time, the return workto the component storage device 100 and the dispersal work of thecomponent support member 220 are performed without transferring the leadcomponents 410 from the component support member 220. At this time, ifthe holding probability of the lead components 410 is approximately 20%,even if the lead components 410 from the component support member 220are returned to the component storage device 100 and redispersed fromthe component storage device 100 on the component support member 220,there is a high possibility that the number of holdable components istwo to three (11 (total number of lead components 410 on the componentsupport member 220)×20%), and it is not possible to supply six leadcomponents 410. In such a case, there is a concern that it is necessaryto carry out again return work to the component storage device 100 anddispersal work of the component support member 220, and the cycle timeworsens.

Therefore, in the bulk component supply device 32, it is determinedwhether or not the holding probability exceeds the threshold in a casewhere at least one of the remaining time and the necessary time exceedthe threshold time. Then, in a case of determining that the holdingprobability does not exceed the threshold in the same manner as in acase of determining that the remaining time and necessary time do notexceed the threshold time, the individual control device 452 performsthe return work to the component storage device 100 and the dispersalwork of the component support member 220 after the lead components 410that are transferable from the component support member 220 are alltransferred to the component receiving member 392. Then, the componentsthat are redispersed on the component support member 220 are transferredto the component receiving member 392.

Meanwhile, in a case of determining that the holding probability exceedsthe threshold, as described above, the individual control device 452performs the return work to the component storage device 100 and thedispersal work of the component support member 220 without carrying outtransfer work of the lead components 410 from the component supportmember 220, and the lead components 410 of the necessary number ofcomponents are supplied from the redispersed components. That is, in acase where three conditions are satisfied of the necessary number ofcomponents exceeding the holdable component number, at least one of thenecessary time and the remaining time exceeding the threshold time, andthe holding probability exceeding the threshold, the return work to thecomponent storage device 100 and the dispersal work of the componentsupport member 220 are performed utilizing the free time. Thereby, it ispossible to reliably improve the cycle time.

Note that, as described above, the holding probability is calculated foreach component that is dispersed on the component support member 220 andis stored in the storage device 456 in each component. Therefore, theholding probability is a value close to an actual probability since thecomponents are reformed for each dispersal on the component supportmember 220. In addition, the threshold of the holding probability isvaried according to the necessary number of components, the holdingprobability, and the like.

<Control Program>

Component supply work of the bulk component supply device 32 describedabove is carried out by performing a control program in the individualcontrol device 452. A flow when the control program is performed will bedescribed below using FIG. 12 and FIG. 13.

First, in the control program, the individual control device 452acquires the necessary number of components from the integrated controldevice 450 (S100). Next, the individual control device 452 calculatesthe number of holdable components (S102). Then, the individual controldevice 452 determines whether or not the necessary number of componentsexceeds the number of holdable components (S104). In a case where it isdetermined that the necessary number of components exceeds the number ofholdable components (YES in S104), the individual control device 452acquires the remaining time and the necessary time (S106).

Next, the individual control device 452 determines whether or not atleast one of the acquired remaining time and the necessary time exceed athreshold time (S108). In a case where at least one of the remainingtime and the necessary time exceed the threshold time (YES in S108), theindividual control device 452 determines whether or not the holdingprobability exceeds the threshold (S110). In a case of determining thatthe holding probability exceeds the threshold (YES in S110), theindividual control device 452 performs the return work to the componentstorage device 100 and the dispersal work of the component supportmember 220 (S112).

Next, the component support member 220 on which the components aredispersed is imaged by the camera 290, and the individual control device452 calculates the holding probability based on the captured image data(S114). Then, the calculated holding probability is stored in thestorage device 456 in each component (S116). Next, the pickup targetcomponents from the component support member 220 are held by the suctionnozzle 332, and the lead components 410 are supplied by moving to thecomponent receiving member 392 (S118). Thereby, performance of thecontrol program ends.

In addition, in a case where it is determined that the necessary numberof components does not exceed the number of holdable components in S104(NO in S104), in a case where it is determined that at least one of theremaining time and the necessary time do not exceed the threshold timein S108 (NO in S108), and in a case where it is determined that theholding probability does not exceed the threshold in S110 (NO in S110),the process in S118 is performed and the control program ends.

Note that, as illustrated in FIG. 8, the individual control device 452performs the control program, and has a component number acquisitionsection 520, a component number calculating section 522, a firstdetermination section 524, a probability calculating section 526, asecond determination section 528, a time acquisition section 530, athird determination section 532, and a component dispersing section 534.The component number acquisition section 520 is a functional section forperforming the process of S100 of the control program, that is, aprocess for acquiring the necessary number of components from theintegrated control device 450. The component number calculating section522 is a functional section for performing the process of S102 of thecontrol program, that is, a process for calculating the number of theholdable components. The first determination section 524 is a functionalsection for performing the process of S104 of the control program, thatis, a process for determining whether or not the necessary number ofcomponents exceeds the number of holdable components. The probabilitycalculating section 526 is a functional section for performing theprocess of S114 of the control program, that is, a process forcalculating the holding probability. The second determination section528 is a functional section for performing the process of S110 of thecontrol program, that is, a process for determining whether or not theholding probability exceeds the threshold. The time acquisition section530 is a functional section for performing the process of S106 of thecontrol program, that is, a process for acquiring the remaining time andthe necessary time. The third determination section 532 is a functionalsection for performing the process of S108 of the control program, thatis, a process for determining whether or not at least one of theremaining time and necessary time exceeds the threshold time. Thecomponent dispersing section 534 is a functional section for performingthe process of S112 of the control program, that is, a process forperforming return work to the component storage device 100 and thedispersal work of the component support member 220.

In addition, the present disclosure is not limited to the appliedexample described above, and it is possible to carry out the presentdisclosure in various aspects subjected to various modifications andimprovements based on the knowledge of a person skilled in the art.Specifically, for example, in the applied example, in a case where threeconditions are satisfied of the necessary number of components exceedingthe holdable component number, at least one of the necessary time andthe remaining time exceeding the threshold time, and the holdingprobability exceeding the threshold, the return work and the like to thecomponent storage device 100 in which the free time is utilized isperformed, and at least in a case where a condition is satisfied inwhich the necessary number of components exceeds the number of holdablecomponents, the return work and the like to the component storage device100 in which the free time is utilized is performed. That is, it ispossible to arbitrary set two conditions of at least one of thenecessary time and the remaining time exceeding the threshold time, andthe holding probability exceeding the threshold.

In addition, in the applied example, the present disclosure is appliedto the lead components 410 that have the leads 414, but it is possibleto apply the present disclosure to various types of components.Specifically, for example, it is possible to apply the presentdisclosure to a configuration component of a solar cell, a configurationcomponent of a power module, an electronic circuit component that doesnot have a lead, and the like.

REFERENCE SIGNS LIST

10: COMPONENT MOUNTING MACHINE (MOUNTING WORK MACHINE), 24: COMPONENTMOUNTING DEVICE, 66: SUCTION NOZZLE (SECOND COMPONENT HOLDING TOOL), 32:BULK COMPONENT SUPPLY DEVICE (COMPONENT SUPPLY DEVICE), 84: IMAGINGDEVICE, 92: COMPONENT RETURN DEVICE, 100: COMPONENT STORAGE DEVICE, 220:COMPONENT SUPPORT MEMBER (COMPONENT SUPPORT SECTION), 332: SUCTIONNOZZLE (FIRST COMPONENT HOLDING TOOL), 392: COMPONENT RECEIVING MEMBER(PLACEMENT SECTION), 452: INDIVIDUAL CONTROL DEVICE (CONTROL DEVICE),456: STORAGE DEVICE, 520: COMPONENT NUMBER ACQUISITION SECTION, 522:COMPONENT NUMBER CALCULATING SECTION, 524: FIRST DETERMINATION SECTION,526: PROBABILITY CALCULATING SECTION, 528: SECOND DETERMINATION SECTION,530: TIME ACQUISITION SECTION, 532: THIRD DETERMINATION SECTION, 534:COMPONENT DISPERSING SECTION

The invention claimed is:
 1. A mounting work machine which performsmounting work of components on a board, the mounting work machinecomprising: a component supply device that includes a component storagedevice that stores a plurality of components, a component supportsection that supports the components in a dispersed state in which thecomponents are dispersed from the component storage device, a feedervibration device that vibrates the component support section, a firstcomponent holding tool that holds the components that are supported inthe component support section, an imaging device that images thecomponents that are supported in the component support section in astate that the feeder vibration device doesn't vibrate the componentsupport section, and a control device, the component supply devicesupplying the components so as to mount the components on the board,wherein the control device includes a component number acquisitionsection that acquires a necessary number of components that is a numberof components that are necessary during mounting work in the mountingwork machine, a component number calculating section that calculates anumber of holdable components that is a number of components that areholdable from the component support section by the first componentholding tool based on captured image data that is captured by theimaging device, and a first determination section that determineswhether or not the necessary number of components that is acquired bythe component number acquisition section exceeds the number of holdablecomponents that are calculated by the component number calculatingsection.
 2. The mounting work machine according to claim 1, wherein eachof the components includes a bottom face, an upper face, a first sideface, a second side face, a third side face, and a fourth side face, andwherein only the components with a calculated component posture in whichthe second side face, the third side face, or the fourth side face facesstraight up are specified as pickup target components.
 3. The mountingwork machine according to claim 1, wherein a side wall section is formedon both side edges of the component support section in a longitudinaldirection.
 4. The mounting work machine according to claim 1, furthercomprising a bulk component supply device which orders the componentsfrom arbitrary postures into predetermined postures and supplies thecomponents which are in the predetermined postures, wherein the bulkcomponent supply device includes a main body and component supply unitswhich are assembled to be attachable to and detachable from a base ofthe main body, the component supply units being arranged to line up in asingle row in a conveyance direction.
 5. A component mounting methodcomprising: providing the mounting work machine according to claim 1;acquiring the necessary number of components that is the number ofcomponents that are necessary during mounting work in the mounting workmachine; calculating the number of holdable components that is thenumber of components that are holdable from the component supportsection by the first component holding tool based on the captured imagedata that is captured by the imaging device; and determining whether ornot the necessary number of components that is acquired by the componentnumber acquisition section exceeds the number of holdable componentsthat are calculated by the component number calculating section.